Robotic medical instrument system

ABSTRACT

A robotic medical system and method of performing a medical procedure on a patient are provided. Control signals are conveyed from a remote controller to a drive unit, and a drive unit is operated in accordance with the control signals to advance a first medical instrument within an anatomical vessel (e.g., a blood vessel) of the patient, to advance a second medical instrument outside of the anatomical vessel, and to respectively actuate first and second tools located on the first and second medical instruments, in unison, to perform at least one of a suturing procedure and a sewing procedure on the anatomical vessel. The control signals may be conveyed from the remote controller to the drive unit in response to user commands. The user commands may be movements made at a user interface that correspond to movements of the first and second medical instruments.

RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.10/639,785, filed Aug. 12, 2003, which claims benefit of priority fromU.S. Application Ser. No. 60/403,621, filed Aug. 14, 2002. Thisapplication is also related to U.S. application Ser. Nos. ______(Attorney Docket No. HNMD-EA005CON2), ______ (Attorney Docket No.HNMD-EA005CON3), ______ (Attorney Docket No. HNMD-EA005CON4), ______(Attorney Docket No. HNMD-EA005CON5), and ______ (Attorney Docket No.HNMD-EA005CON6), all of which are filed on the same date herewith. Theentire disclosures of the above applications are expressly incorporatedherein by reference.

BACKGROUND OF THE INVENTION

Robotically controlled surgical instruments are usually controlled froma master station at which a surgeon or other medical practitioner issituated. The master station may include one or more input devicesmanipulated by the user for, in turn, controlling, at an operative site,respective instruments used in performing a surgical procedure orapplication.

SUMMARY OF THE INVENTION

In accordance with a first aspect of the present inventions, a roboticmedical system is provided. The robotic medical system comprises anintraluminal medical instrument having a first tool adapted to bedisposed at a first region within an anatomical vessel, and anextraluminal medical instrument having a second tool adapted to bedisposed at a second region outside of the anatomical vessel oppositethe first region. In one embodiment, the intraluminal medical instrumentis flexible, and the extraluminal medical instrument is rigid. In thiscase, the intraluminal medical instrument may be configured for beingintroduced at the first region through a natural body orifice orpercutaneously, while the extraluminal medical instrument may beconfigured for being introduced at the second region through a surgicalopening or laparoscopically. In another embodiment, both theintraluminal medical instrument and extraluminal medical instrument maybe flexible.

The robotic medical system further comprises at least oneelectromechanical driver (e.g., one that has a motor array) coupled tothe intraluminal medical instrument and extraluminal medical instrument.The robotic medical system further comprises a remote controllerconfigured for respectively directing the electromechanical driver(s) toindependently control movements of the intraluminal and extraluminalmedical instruments, and to respectively control the first and secondtools, in unison, to perform at least one of a suturing procedure and asewing procedure on the anatomical vessel. In one embodiment, the remotecontroller is coupled to the electromechanical driver(s) via externalcabling. The remote controller may optionally have a user interface forreceiving commands from a user. In this case, the movements made at theuser interface may correspond to movements of the intraluminal andextraluminal instruments.

The robotic medical system may be configured to perform the suturing orsewing procedure in any one of a variety of manners. For example, in thecase of a suturing procedure, one of the tools may have a needle, andanother of the tools may have a tissue grasper. The tissue grasper maybe configured for grasping a fold of a wall of the anatomical vessel,and the needle may be configured for passing a suture through the wallfold. In the case of a sewing procedure, one of the tools may have aneedle, and the other of the tools may be a hook end effector thatcooperates with the needle to perform the sewing procedure. The toolwith the needle may have a presser foot, in which case, the needle maybe configured for reciprocating relative to the presser foot. The needlemay be configured for pulling a loop of suture material through a wallof the anatomical vessel, and the hook end effector may be configuredfor grabbing the loop of material before the needle pulls the loop ofsuture material through the anatomical vessel wall.

In accordance with a second aspect of the present inventions, a methodof performing a medical procedure on a patient is provided. The methodcomprises conveying control signals from a remote controller to a driveunit, and operating the drive unit in accordance with the controlsignals to advance a first medical instrument within an anatomicalvessel (e.g., a blood vessel) of the patient, to advance a secondmedical instrument outside of the anatomical vessel, and to respectivelyactuate first and second tools located on the first and second medicalinstruments, in unison, to perform at least one of a suturing procedureand a sewing procedure on the anatomical vessel. In an optional method,the control signals may be conveyed from the remote controller to thedrive unit in response to user commands. The user commands may bemovements made at a user interface that correspond to movements of thefirst and second medical instruments.

In one method, the first medical instrument is introduced within thepatient through a natural body orifice or percutaneously, and the secondmedical instrument is introduced within the patient through a surgicalopening or laparoscopically. The suturing or sewing procedure may beperformed on the anatomical vessel using suturing or sewing tools in themanner described above. Various medical procedures can be performed onan anatomical vessel, including securing the ends of two segments of theanatomical vessel together, securing a stent to the anatomical vessel,transversely securing another anatomical vessel to a side wall of theanatomical vessel, constricting a sphincter located in the anatomicalvessel (e.g., at the base of a ureter or at a gastro-esophageoljuncture).

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing and other objects, features and advantages of theinvention will be apparent from the following more particulardescription of preferred embodiments of the invention, as illustrated inthe accompanying drawings in which like reference characters refer tothe same parts throughout the different views. The drawings are notnecessarily to scale, emphasis instead being placed upon illustratingthe principles of the invention.

FIG. 1 is a perspective view of one embodiment of a robotic surgicalsystem in which the principles of the present invention are applied;

FIG. 2 schematically illustrates a surgical procedure using intralumenaland extralumenal instruments, one flexible and one rigid;

FIG. 3 illustrates respective end effectors of rigid and flexibleinstruments used in performing a suturing procedure at a wall of alumen;

FIG. 3A shows a next step in the suturing process with the needle havingpunctured the anatomic wall;

FIG. 3B shows still another suturing step with the suture being pulledthrough the wall, and further illustrating the placement of a viewingendoscope attached internally;

FIG. 3C is a schematic illustration of dual end effectors used in asewing technique for attaching vessel segments together;

FIG. 3D illustrates the completion of the sewing technique of FIG. 3C;

FIG. 3E illustrates a surgical procedure in the stomach using dualinstruments, a flexible instrument passing into the stomach and either arigid or flexible instrument outside the stomach wall;

FIG. 3F schematically shows the end of the sewing or suturing techniqueat the stomach wall;

FIG. 3G illustrates the dual instruments used for securing orre-securing an internal object such as a stent in an artery, vein, orother anatomic lumen or vessel;

FIG. 3H illustrates a first step in a procedure for attaching one vesselto another such as in bypass surgery;

FIG. 3I illustrates a second step in a procedure for attaching onevessel to another;

FIG. 3J illustrates a third step in a procedure for attaching one vesselto another;

FIG. 3K shows the use of dual instruments in a bladder procedure;

FIG. 3L illustrates the use of dual instruments in a stomach procedure;

FIG. 4 is an exploded perspective view of another version of the cabledrive mechanism and tool in accordance with the present invention;

FIG. 5 is a top plan view of the instrument insert itself;

FIG. 6 is a perspective view of another embodiment of the presentinvention;

FIG. 7 is an enlarged detail perspective view of the tool;

FIG. 8 is a perspective view at the tool;

FIG. 9 is a side elevation view of the needle driver;

FIG. 10 is a perspective view of an embodiment of a flexible or bendablewrist just proximal to the tool;

FIGS. 11-14 illustrate different end effector constructions that may beused with either flexible or rigid instruments;

FIG. 15 is a perspective view at the slave station of the system of FIG.1 illustrating the interchangeable instrument concepts;

FIG. 16 is a cross-sectional view through the storage chamber and astaken along line 16-16 of FIG. 15;

FIG. 17 is a longitudinal cross-sectional view, as taken along line17-17 of FIG. 15, and showing both a stored articulating instrument anda stored fluid dispensing;

FIG. 18 is schematic diagram of the instrument systems of the presentinvention as deployed through the urethra for a surgical procedure inthe bladder;

FIG. 19 gives further details of the bladder procedures of FIG. 18; and

FIG. 20 illustrates still another concept using a single controllableinstrument.

DETAILED DESCRIPTION OF THE INVENTION

A description of preferred embodiments of the invention follows.

FIG. 1 is a perspective view of one embodiment of a robotic surgicalsystem in which the principles of the present invention are applied.FIG. 1 illustrates a surgical instrument system 10 that includes amaster M at which a surgeon 2 manipulates an input device, and a slavestation S at which is disposed a surgical instrument. In FIG. 1 theinput device is illustrated at 3 being manipulated by the hand or handsof the surgeon. The surgeon is illustrated as seated in a comfortablechair 4. The forearms of the surgeon are typically resting upon armrests5.

FIG. 1 illustrates a master assembly 7 associated with the masterstation M and a slave assembly 8 associated with the slave station S.Assembly 8 may also be referred to as a drive unit. Assemblies 7 and 8are interconnected by means of cabling 6 with a controller 9. Asillustrated in FIG. 1, controller 9 typically has associated therewithone or more displays and a keyboard. Reference is also made to, forexample, the aforementioned U.S. Ser. No. 10/014,143, for furtherdetailed descriptions of the robotic and computer controller operationand associated operating algorithm.

As noted in FIG. 1, the drive unit 8 is remote from the operative siteand is preferably positioned a distance away from the sterile field. Thedrive unit 8 is controlled by a computer system, part of the controller9. The master station M may also be referred to as a user interfacevis--vis the controller 9. Commands issued at the user interface aretranslated by the computer into an electronically driven motion in thedrive unit 8. The surgical instrument, which is tethered to the driveunit through the cabling connections, produces the desired replicatedmotion. FIG. 1, of course, also illustrates an operating table T uponwhich the patient P is placed.

FIG. 1 illustrates both a flexible system and a rigid system. Only onedrive unit is depicted it being understood that there is also a driveunit associated with the rigid instrument system such as shown in FIG.4. Each of the drive units is controlled from cabling that couples fromthe controller. This is electrical cabling that drives correspondingmotors in each drive unit.

Thus, the controller couples between the master station M and the slavestation S and is operated in accordance with a computer algorithm. Thecontroller receives a command from the input device 3 and controls themovement of the surgical instrument so as to replicate the inputmanipulation. The controller may also receive commands from the masterstation for controlling instrument interchange.

With further reference to FIG. 1, associated with the patient P is thesurgical instrument 14, which in the illustrated embodiment actuallycomprises two separate instruments one rigid and one flexible, alongwith an endoscope E. The endoscope includes a camera to remotely viewthe operative site. The camera may be mounted on the distal end of theinstrument insert, or may be positioned away from the site to provideadditional perspective on the surgical operation. In certain situations,it may be desirable to provide the endoscope through an opening otherthan the one used by the rigid surgical instrument. In this regard, inFIG. 1 three separate ingress locations are shown, two for accommodatingthe rigid surgical instrument and the endoscope, and the thirdaccommodates the flexible instrument through a natural body orifice. Adrape is also shown.

The viewing endoscope may also be formed integral with the instrumentwhether it be a rigid instrument or a flexible instrument. The opticsand camera may be mounted directly on the distal part of the instrumentsuch as at or adjacent the end effector. In particular, with respect toa flexible instrument the optics and camera may be supported at thedistal end of the instrument.

In FIG. 1, as indicated previously two separate instruments aredepicted, a rigid instrument system 14 and a flexible instrument system500. In the rigid instrument system there is an instrument insert thatcarries at its distal end an end effector 18A entering the anatomythrough a small incision. This may be for the purpose of providingaccess to the area about the bowel or bladder, for example. In theflexible instrument system there is a flexible and bendable instrumentsection terminating at the end effector 500A, and entering the anatomy,for example, through a natural body orifice such as through the anus inthe case of a bowel procedure.

An end effector is usually associated with each of the instrumentsystems. In FIG. 1 this is illustrated by the end effectors 18A and500A. These can take on a variety of different form such as scissors,graspers or needle drivers. Both of the medical instrument memberscomprise active work elements at respective member working ends and areusually disposed at opposite sides of an anatomic wall. By “active”,reference is made to end effectors that are useable in performing asurgical procedure or application and that are capable of beingmanipulated from a master station such as from a surgeon controlledinput device.

The instrument system 14 is generally comprised of two basic components,including a surgical adaptor or guide 15 and an instrument insert 16.FIG. 1 illustrates the surgical adaptor 15, which is comprised primarilyof the guide tube 24, but also includes a mechanical interface thatinterfaces with a corresponding mechanical interface of the instrumentitself. In FIG. 1 the instrument 14 is not clearly illustrated butextends through the guide tube 24. The instrument 14 carries at itsdistal end the instrument member or insert. The surgical adaptor 15 isbasically a passive mechanical device, driven by the attached cablearray.

In FIG. 1 there is illustrated cabling that couples from the instrument14 to the drive unit. The cabling 22 is preferably detachable from thedrive unit. Furthermore, the surgical adaptor 15 may be of relativelysimple construction. It may thus be designed for particular surgicalapplications such as abdominal, cardiac, spinal, arthroscopic, sinus,neural, etc. As indicated previously, the instrument 14 couples to theadaptor 15 and essentially provides a means for exchanging theinstrument tools. The tools may include, for example, forceps, scissors,needle drivers, electrocautery etc. Other tool interchanges are alsoshown in further drawings herein.

Referring still to FIG. 1, the surgical system 10 includes a surgeon'sinterface 11, computation system or controller 9, drive unit 8 and thesurgical instrument 14. The surgical system 10, as mentioned previously,is comprised of an adaptor or guide 15 and the instrument insert 16. Thesystem is used by positioning the instrument, which is inserted throughthe surgical adaptor or guide 15. During use, a surgeon may manipulatethe input device 3 at the surgeon's interface 11, to affect desiredmotion of the distal end of the instrument within the patient. Themovement of the handle or hand assembly at input device 3 is interpretedby the controller 9 to control the movement of the guide tube 24,instrument, and, when an articulating instrument is used, the endeffector or tool 18A. Also, movements at the master station may controlinstrument exchange.

The surgical instrument 14, along with the guide tube 24 is mounted on arigid post 19 which is illustrated in FIG. 1 as removably affixed to thesurgical table T. This mounting arrangement permits the instrument toremain fixed relative to the patient even if the table is repositioned.As indicated previously, connecting between the surgical instrument 14and the drive units 8, are cablings. These include two mechanicalcable-in-conduit bundles. These cable bundles may terminate at twoconnection modules, not illustrated in FIG. 1, which removably attach tothe rigid instrument drive unit 8. Although two cable bundles aredescribed here, it is to be understood that more or fewer cable bundlesmay be used. Also, the drive unit 8 is preferably located outside thesterile field, although it may be draped with a sterile barrier so thatit may be operated within the sterile field.

In the preferred technique for setting up the system, and with referenceto FIG. 1, the surgical instrument 14 is inserted into the patientthrough an incision or opening. The instrument 14 is then mounted to therigid post 19 using a mounting bracket. The cable bundle or bundles arethen passed away from the operative area to the drive unit. Theconnection modules of the cable bundles are then engaged into the driveunit. The separate instrument members of instrument 14 are thenselectively passed through the guide tube 24. This action is inaccordance with the interchangeable instrument concepts also describedherein.

The instrument 14 is controlled by the input device 3, which is bemanipulated by the surgeon. Movement of the hand assembly producesproportional movement of the instrument 14 through the coordinatingaction of the controller 9. It is typical for the movement of a singlehand control to control movement of a single instrument. However, FIG. 1shows a second input device that is used to control an additionalinstrument. Accordingly, in FIG. 1 two input devices are illustrated andtwo corresponding instruments. These input devices are usually for leftand right hand control by the surgeon. Many other forms of input devicecontrol may also be used. For example, instead of finger graspers ajoystick arrangement may be used.

The surgeon's interface 11 is in electrical communication with thecontroller 9. This electrical control is primarily by way of the cabling6 illustrated in FIG. 1 coupling from the bottom of the master assembly7. Cabling 6 also couples from the controller 9 to the actuation ordrive units. This cabling 6 is electrical cabling. Each of the actuationor drive units, however, is in mechanical communication with thecorresponding instrument. The mechanical communication with theinstrument allows the electromechanical components to be removed fromthe operative region, and preferably from the sterile field. Thesurgical instrument provides a number of independent motions, ordegrees-of-freedom, when an articulating type instrument such as a tool,gripper, etc. is used. These degrees-of-freedom are provided by both theguide tube 24 and the instrument insert.

FIG. 1 shows primarily the overall surgical system. FIGS. 15-17 showfurther details particularly of the interchangeable instrument conceptsas applied to this system. The rigid instrument part of the system isadapted to provide seven degrees-of-freedom when an articulating tool isused such as the tool 18A shown in FIG. 1. Three of thedegrees-of-freedom are provided by motions of the adaptor 15, while fourdegrees-of-freedom may be provided by motions of the instrument. As willbe described in detail later, the adaptor is remotely controllable sothat it pivots, translates linearly, and has its guide tube rotate. Theinstrument insert also rotates (via rotation of the instrument driver),pivots at its wrist, and has two jaw motions at the tool.

Now, mention has been made of bowel and bladder procedures illustratedschematically in FIG. 2. This shows the two separately controlledinstruments including rigid instrument system 14 that may be engagedlaparoscopically through a small incision, and flexible instrumentsystem 500 that may be engaged through the anus in the case of a bowelprocedure or the urethra in the case of a bladder procedure. FIG. 2 alsoshows the respective end effectors 18A and 500A. These end effectors areshown positioned on either side of an anatomic wall W shownschematically in dotted outline in FIG. 2.

Refer now also to FIG. 3 for an illustration of further details showingthe end effectors 18A and 500A positioned to perform a suturing stepwith a needle 19A being grasped by the end effector 18A. The rigidinstrument has been passed through a small incision and is positionedoutside the vessel wall 20A. The flexible instrument with end effector500A is positioned within the lumen 20C between walls 20A and 20B. Theend effector 500A is shown grasping a tissue at the wall, assisting inthe suturing step. In FIG. 3 both of the instruments include at theirdistal ends, proximal of the end effectors, bendable sections 18B and500B. Each of these bendable sections or segments is remotelycontrollable from the master input devices, allowing additional degreesof freedom of motion of the respective end effectors. The end effectorsof both instruments are preferably also remotely computer-controlledfrom a master station input device or devices. Also, illustrated is aviewing endoscope VE directed at the operative site where the endeffectors are acting.

Reference is now made to FIG. 3A showing a next step in the suturingprocedure. The needle 19A has now passed through the vessel wall 20A.The suture 19B is attached to the end of the needle 19A, as illustrated.In FIG. 3A there is illustrated a viewing endoscope 19C that is attachedto the instrument 18 just proximal of the end effector 18A.

In FIG. 3B the needle 19A is shown in the next step with the suture 19Bhaving passed through the anatomic wall 20A. In this arrangement theviewing endoscope 19C is shown secured to the chest wall 19E. There maybe provided a clamp 19D, or the like for holding the viewing endoscopein place and in a good viewing location for the surgical procedure thatis being performed. In both FIGS. 3A and 3B the instrument system 500 iswithin the lumen 20C, while the instrument system 14 is outside thelumen 20C. The instrument systems 500 within the lumen are usually ofthe flexible type so as to be able to maneuver through an anatomic bodypart. The instrument system outside the lumen is illustrated as being ofthe rigid type but could also be of the flexible type.

FIG. 3C shows the use of another dual instrument system that is adaptedfor intralumenal/extralumenal positioning. This particular arrangementis for sewing between two separate vessels V1 and V2. This procedure maybe used in a variety of different types of operations in which it isdesirable to secure together two vessels or lumens, end-to-end. For thispurpose there are provided two instrument systems, both of which arepreferably robotically controlled from a master station input device.The control of the two systems may be under direct surgeon control suchas from an input device manipulated by the surgeon, or, alternativelythe systems may be automatically controlled so that once a sequence isinitiated the ensuing steps are performed automatically. For example ina sewing procedure it may be desirable to position the instrumentsystems and, once positioned, it may be desirable to initiate a sequenceof suturing steps or stitches so that the suturing occurs essentiallyautomatically, with little or no surgeon intervention except for safetyconcerns.

Now, in FIG. 3C there is illustrated a dual instrument system thatincludes an internally disposed system 150, and an externally disposedsystem 160. The system 150 is usually of the flexible type as theinstrument shaft has to negotiate a vessel or lumen that typically hasnon-straight portions. The instrument system 160, on the other hand, maybe flexible or rigid, but would usually be rigid as it would enter theanatomy through an incision or percutaneously. In FIG. 3C the instrumentsystems together define a sewing system including, on the instrumentsystem 150 a hook end effector 152, and on the instrument system 160 aneedle end effector 162. Together these instrument systems are adaptedto be operated in unison and usually in an automatic manner, althoughthe sewing steps can also be performed under manual control of thesurgeon from a master station.

The combination of the instrument systems 150 and 160 provide a sewingtechnique. The system 150 with its hook end effector 152 cooperates withthe needle end effector 162 supported by the instrument system 160. Thisarrangement may be used to provide a chain stitch. Both of the endeffectors are controllable with multiple degrees of freedom. Thus, ifthe systems are used under manual robotic control the hook end effector152 is moved in unison with the needle end effector 162 to provide thestitch 164. The needle end effector 162 is adapted to reciprocaterelative to its presser foot 166. At the beginning of each stitch, theneedle end effector 160 pulls a loop of suture material through thetissue. The hook end effector 150 moves in synchronism with the needleend effector 160 and grabs the loop of suture material before the needleend effector 160 pulls up. The instrument system proceed about thevessel portions and FIG. 3D shows the final stitch 164 that attaches thevessels or lumens together, end-to-end.

In connection with the systems shown in FIGS. 3C and 3D these instrumentsystems may also be controlled automatically and under computer control.In that case, once the instrument systems are in place, sensorsassociated with each instrument system detects the relative positionbetween them. Then the computer at the controller that is disposedbetween master and slave stations, controls the instrument systems inunison to perform the stitching action. In other words the computercontrols the action of the needle end effector and hook end effector toperform the stitch such as a chain stitch.

In the arrangement shown in FIGS. 3C and 3D the needle end effector isshown outside the lumen while the hook end effector is shown inside thelumen. In an alternate embodiment the positions of the instruments maybe interchanged do the hook end effector is outside the lumen and theneedle end effector is inside the lumen. The positioning between the endeffectors can be controlled by sensing electromagnetic signalsassociated with sensors associated with each instrument system. Thestitching sequences described can provide a variety of different stitchpatterns. Inversion or eversion of sewed edges can be provided dependingupon the particular surgical procedure being performed. For example, forcardiac procedures a slight inversion of the stitch is desired.

FIG. 3E illustrates a surgical procedure in the stomach using dualinstruments, a flexible instrument passing into the stomach and either arigid or flexible instrument outside the stomach wall. FIG. 3Fschematically shows the end of the sewing or suturing technique at thestomach wall. The flexible instrument system 160A passes through theesophagus 167 entering initially through the patient's mouth. The outletfrom the stomach is at the duodenum 168. This flexible instrument systemis illustrated as having an operative segment O controlled by thesurgeon in a telerobotic manner to control bending at that segment forguidance of the distal end effector 160. An outside instrument system150 is also illustrated which may be either a flexible or rigidinstrument system. This is illustrated in FIG. 3E by system 150Acarrying the end effector 150. In FIGS. 3E and 3F the end effectors maybe the same as shown in FIGS. 3C and 3D used in performing a sewing orsuturing operation. The instrument systems are controlled to perform thesewing or suturing action forming stitches 170 as illustrated in FIG.3F. This stitching action closes the hole 169.

FIGS. 3E and 3D illustrate a surgical procedure on the stomach 165particularly at the stomach wall 171. An ulcerated hole 169 is disclosedand it is the purpose of the instrument system shown to close up thishole by means of a sewing or suturing technique employing the instrumentsystems 150A and 160A. The procedure shown in FIGS. 3E and 3F can beperformed manually from the master station or can be performedautomatically under computer control initiated from the master station.The same or a similar procedure can also be used for gastric ulcers orfor repairing a bowel wall defect.

FIG. 3G shows still another technique that can be practiced with theinstrument systems described herein. In FIG. 3G the same referencecharacters are used to identify similar components as previouslydescribed in connection with FIGS. 3C and 3D. In this instance an objectis being stitched within the body vessel 174. The object may be, forexample, a stent 173 that is being secure or re-secured within thevessel walls. For this purpose in FIG. 3G there is illustrated theinstrument systems 150A and 160A. Usually the instrument system 150A isflexible as it has to conform to the shape and contour of the inside ofthe vessel or lumen. The instrument systems 150A and 160A carryrespective end effectors 150 and 160. These may be the same type endeffectors described in connection with FIGS. 3C and 3D. FIG. 3G showsthe stitching being completed at 175 at one end of the stent 173, andfurther shows the instrument systems in action at the other end of thestent securing the other end thereof by means of the illustratedinstrument systems 150A and 160A.

In FIG. 3G the instrument system 150A may enter the anatomy through alumen from a natural body orifice, or percutaneously. The instrumentsystem 160A may be positioned at the lumen via an incision at aconvenient location proximal to the operative site. The stitching actionmay be direct surgeon controlled my manipulation at a master station orcan be under automatic control. In FIG. 3G the securing may be for anewly placed object or can be used to repair an existing object. Forexample, the technique explained can be used for AAA stent failures.

Refer now to FIGS. 3H through 3J for an illustration of another surgicalprocedure that can be performed using the present inventive techniques.This example relates to the attachment of one vessel or lumen 177 toanother vessel or lumen 178. This is a technique that can be used, forexample, in performing a cardiac by-pass. In the illustrated steps thesame instrument systems may be employed as previously discussed inconnection with earlier embodiments that are described herein. This mayinclude both flexible and rigid systems. Furthermore it is noted in thisparticular procedure that more than two instrument systems are employed.For example, refer to FIG. 31 where three instrument systems are shown,two positioned within respective lumens and one positioned outside thelumens.

FIG. 3H shows the lumen or vessel 178 to which the vessel or lumen 177is to be attached. This illustrates the first step in the procedure ofpositioning the lumen 177 by means of the instrument system 180 that isdisposed within the lumen 177. The instrument system 180 may carry aballoon 181 for example, that is inflated to hold the lumen 177 inplace. The instrument system 180 may then be advanced to position thelumen 177 toward the position illustrated in FIG. 31. The control ofmovement of the instrument system 180 may be by means of surgeon controlfrom a master station input device. In this procedure, as well as otherprocedures described herein a viewing endoscope is used to assist in thepositioning of instrument systems.

FIG. 3I now shows the next step in the procedure of attaching thetapered end of the vessel 177 to the side wall of the vessel 178. Forthis purpose there is provided the previously described instrumentsystems 150A and 160A. These instrument systems are used to sew orsuture about the open end of the vessel 177 to attach it to the sidewall of the vessel 178. This sewing or suturing step is performed withthe use and control of the end effectors 150 and 160. In FIG. 3I it isnoted that the instrument system 180 may be kept in place during thisstep to hold the vessel or lumen 177 against the vessel or lumen 178 toassure accurate attachment. At least parts of the procedures may beperformed automatically, particularly the sewing or suturing technique.

After the step illustrated in FIG. 3I is completed then an opening is tobe cut in the sidewall of lumen 178 to allow fluid flow between lumens.This is illustrated in FIG. 3J where additional instrument systems arenow employed. One instrument system 182 may carry a cutting blade toperform the opening of the sidewall in the lumen 178. In the other lumen178 there is disposed the instrument system 183 that carries a balloon184 that is meant to hold the sidewall in place as the cutting operationis performed. For the purpose of illustration only one balloon id shownin FIG. 3J, however, instead a pair of balloons may be used, onepositioned on either side of the opening so that there is nointerference between the cutting instrument and the supporting balloons.

Refer now to another use of the concepts of the invention illustrated inFIG. 3K.

This illustrates a surgical procedure that is performed in the bladder185. FIG. 3K shows one instrument system 160A passing through theurethra 188 into the interior of the bladder. This is the instrumentsystem 160A carrying the needle end effector 160. FIG. 3K alsoillustrates the other instrument system 150A carrying the hooked endeffector 150. Both of these instrument systems are shown in relativeproximity to each other and can be used to perform any one of a numberof different procedures. For example, the instrument systems may be usedto close the sphincter at the base of the ureter tube 186 that couplesto the kidney 187.

FIG. 3L is a further illustration of the use of the instrument systemsof the invention in closing the sphincter leading into the stomach 190at the gastro-esophageol juncture. This is a procedure that is useableto reduce acid reflux that can occur in some patients. By reducing thesize of the port at that point acids from the stomach are impeded frombacking up into the esophagus. Thus, in FIG. 3L the aforementionedinstrument systems 150A and 160A are used to perform a sewing orsuturing operation so as to constrict the sphincter at the area 192illustrated in FIG. 3L. The instrument system 150A carries the hook endeffector 150 while the instrument system 160A carries the needle endeffector 160. Both the instrument systems may be operated in the samemanner as described previously in connection with other procedures thathave been described herein.

FIG. 4 is an exploded perspective view of another version of the cabledrive mechanism and tool. FIG. 5 is a top plan view of the rigidinstrument insert itself. FIG. 4 is an exploded perspective view of thecable drive mechanism and instrument illustrating the de-couplingconcepts at the slave station S.A section of the surgical tabletop Twhich supports the rigid post 19 is shown. The drive unit 8 is supportedfrom the side of the tabletop by an L-shaped brace 210 that carries anattaching member 212. The brace 210 is suitably secured to the table T.The drive unit 8 is secured to the attaching member 212 by means of aclamp 214. Similarly, the rigid support rod 19 is secured to theattaching member 212 by means of another clamping mechanism 216.

Also in FIG. 4 the instrument 14 is shown detached from (or not yetattached to) support post 19 at bracket 25. The instrument 14 along withcables 21 and 22 and lightweight housing section 856 provide arelatively small and lightweight decoupleable slave unit that is readilymanually engageable (insertable) into the patient at the guide tube 24.

After insertion, the instrument assembly, with attached cables 21, 22and housing 856, is attached to the support post 19 by means of the knob26 engaging a threaded hole in base 452 of adapter 15. At the other endof the support post 19, bracket 216 has a knob 213 that is tightenedwhen the support rod 19 is in the desired position. The support rod 19,at its vertical arm 19A, essentially moves up and down through the clamp216. Similarly, the mounting bracket 25 can move along the horizontalarm 19B of the support rod to be secured at different positionstherealong. A further clamp 214 supports and enables the drive unit 8 tobe moved to different positions along the attaching member 212. FIG. 4also shows the coupler 230 which is pivotally coupled from base piece234 by means of the pivot pin 232. The coupler 230 is for engaging withand supporting the proximal end of the instrument insert 16.

The first housing section 855 also carries oppositely disposed thumbscrews 875 (see FIG. 4). These may be threaded through flanges 876. Whenloosened, these set screws enable the second housing section 856 toengage with the first housing section 855. For this purpose, there isprovided a slot 878 illustrated in FIG. 4. Once the second housingsection 856 is engaged with the first housing section 855, then thethumb screws 875 may be tightened to hold the two housing sectionstogether, at the same time facilitating engagement between the couplerdisks 862 and the coupler spindles 860.

As illustrated in FIG. 4, the two housing sections 855 and 856 areseparable from each other so that the relatively compact slave unit canbe engaged and disengaged from the motor array, particularly from thefirst housing section 855 that contains the motors 800. The firsthousing section 855, as described previously, contains the motors 800and their corresponding coupler disks 862. In FIG. 4, the second housingsection 856 primarily accommodates and supports the coupler spindles 860and the cabling extending from each of the spindles to the cable bundles21 and 22 depicted in FIG. 4.

FIG. 4 also shows details of the adaptor including the carriage 226supported on rails 224. The carriage 226 holds the base piece 234 that,in turn, supports the instrument insert. The coupler 230 of the adaptorprovides mechanical drive to the instrument insert. The carriage andrails are pivoted at 225 to provide one degree of freedom, while the inand out motion of the carriage provides another degree of freedom to theinstrument.

As shown in FIG. 5, each wheel of the instrument coupler 300 has twocables 376 that are affixed to the wheel and wrapped about oppositesides at its base. The lower cable rides over one of the idler pulleysor capstans (e.g., capstan 34), which routes the cables toward thecenter of the instrument stem 301. It is desirable to maintain thecables near the center of the instrument stem. The closer the cables areto the central axis of the stem, the less disturbance motion on thecables when the insert stem is rotated. The cables may then be routedthrough fixed-length plastic tubes that are affixed to the proximal endof the stem section 301 and the distal end of the stem section 302. Thetubes maintain constant length pathways for the cables as they movewithin the instrument stem.

The instrument coupler 300 is also provided with a registration slot 350at its distal end. The slot 350 engages with a registration pin 352supported between the bars 270 and 272 of base piece 234. The coupler300 is also provided with a clamping slot 355 on its proximal end foraccommodating the threaded portion of the clamping knob 327 (on adaptercoupler 230). The knob 327 affirmatively engages and interconnects thecouplers 230 and 300.

In operation, once the surgeon has selected a particular instrumentinsert 16, it is inserted into the adapter 15. The proximal stem 301,having the distal stem 302 and the tool 18 at the distal end, extendthrough the adapter guide tube 24. FIG. 4 shows the tool 18 extendingout of the guide tube 24 when the surgical instrument 16 is fullyinserted into the adaptor 15. When it is fully inserted, the tab 281 onthe axial wheel 306 engages with the mating detent 280 in pulley 279.Also, the registration slot 350 engages with the registration pin 352.Then the coupler 230 is pivoted over the base 300 of the instrumentinsert 16. As this pivoting occurs, the respective wheels of the coupler230 and the coupler 300 interengage so that drive can occur from thecoupler 230 to the insert 16. The knob 327 is secured down so that thetwo couplers 230 and 300 remain in fixed relative positions.

FIG. 6 is a perspective view of one embodiment of the flexibleinstrument system 500 illustrated in FIG. 1. FIG. 7 is an enlargeddetailed perspective view of the end effector that may be used with theflexible instrument system. FIG. 1 depicts flexible instrument system500 supported from support bracket 502, which extends to the operatingtable. Usually the support bracket is supported from the side of theoperating table and may be adjustable in position relative to theoperating table, to dispose system 500 in a convenient position over orrelative to the patient. In one embodiment, bracket 502 is secured tothe operating table at one end. The other end of bracket 502 supportsthe entire flexible instrument by means of a two-piece structure similarto that described in copending U.S. Provisional Applications Ser. No.60/279,087 filed Mar. 27, 2001 the entire teachings of which areconcorporated herein by reference. A knob may be provided on supportbase 504, not shown in FIG. 1. Once the support base 504 is fixed to thesupport bracket 502, then the flexible instrument system is maintainedin a fixed position at base 504, providing a stable and steady structureduring the medical procedure. Like the rigid system in FIG. 1, system500 can be positioned at an acute angle with respect to the operatingtable or can be arranged at other convenient positions depending uponthe surgical procedure being performed.

Flexible instrument system 500 illustrated in FIG. 6 comprises flexibleinstrument 510 having a shaft 528 extending to mechanically drivablemechanism 526, which interlocks with base (or receiver) 506. Base 506 issupported on carriage 508. Carriage 508, in turn, is adapted for lineartranslation and supported by elongated rails 512 and 514. Rails 512 and514 terminate at one end via end piece 516 which provides furthersupport. Support base 504 terminates rails 512 and 514 at their otherend. Carriage 508 includes bearings or bushings 509 that support thecarriage from rails 512 and 514.

Flexible instrument system 500 employs two separate cable bundles formechanically driving the flexible instrument along rails 512 and 514.Pulley 521 (dotted outline), residing within carriage control module520, receives a first pair of cables 518. Pulley 521 also receives asecond set of cables, which runs through carriage 508 to a furtherpulley 522 supported by end piece 516. The second set of cables controlsthe translational motion of carriage 508 and terminates at point 519.

FIG. 6 also shows a set of cables 524 for driving control elements, e.g.pulleys within receiver 506. These control elements move the shaft andthe tool in several degrees-of-freedom. Arrow J1 indicates the lineartranslation via module 520. Rotational arrow J2 indicates rotation offlexible shaft 528 of flexible instrument 510 about the inner axisparallel with the shaft length. Arrow J3 represents the flexing orbending of flexible shaft 528 at controlled flexible segment 530. Inthis embodiment, flexible segment 530 is positioned directly adjacenttool 534 at the distal end of shaft 528. Arrow J4 represents the pivotaction of a wrist joint, which links tool 534 to shaft 528, about axis532. In this embodiment, tool 534 is exemplified as a grasper, andarrows J5 and J6 represent the opening and closing actions of the tooljaws. Motions indicated by arrows J2-J6 are controlled from cabling 524originating at receiver 506.

FIG. 7 provides an enlarged perspective view of the distal end of shaft528 including flexible segment 530 and tool 534. The segment 530corresponds to the section 500B illustrated in FIG. 3, while the endeffector 534 corresponds to the end effector 500A illustrated in FIG. 3.Tool 534 comprises upper grip or jaw 602 and lower grip or jaw 603, bothsupported from link 601. Base 600 is affixed to or integral withflexible shaft 528. Link 601 is rotatably connected to base 600 aboutaxis 532. A pivot pin may be provided for this connection. Upper andlower jaws 602 and 603 are rotatably connected to link 601 about axis536 and again, a pivot pin can provide this connection.

FIG. 7 shows eight cables at 538 extending through the hollow inside ofshaft 528 for control of tool 534 and flexible segment 530. Two of thesecables operate the bend of flexible segment 530, two cables operate oneof the jaws 602, two cables operate the other of the jaws 603 and thelast two cables operate the wrist action about the axis 532. All ofthese cables travel through the hollow shaft 528 and through appropriateholes in flexible segment 530 e.g. wire 525, as well as holes in base600. Each of these pairs of cables operates in concert to open and closejaws, pivot about the wrist, and bend flexible segment 530.

One pair of cables travels through shaft 528 and through appropriateholes in the base 600, wrapping around a curved surface of the link 601and then attaching to the link. Tension on this pair of cables rotatesthe link 601 along with the upper and lower grips or jaws 602 and 603about axis 532.

Two other pairs of cables also extend through the shaft 528 and throughholes in the base and then pass between fixed posts 612. These postsconstrain the cables to pass substantially through axis 532, whichdefines rotation of link 601. This construction essentially allows freerotation of link 601 with minimal length changes in the cables passingto jaws 602 and 603. Thus, the cables actuating jaws 602 and 603 areessentially decoupled from the motion of link 601 and are not effectedby any rotation of link 601. Cables controlling jaw movement terminateon jaws 602 and 603. These cables permit independent operation of thejaws 602 and 603 in respective clockwise and counter clockwisedirections with respect to axis 536. A similar set of cables is presenton the under-side of the link 601 (not shown). Each of the jaws 602 and603, as well as the link 601, may be constructed of metal.Alternatively, link 601 may be constructed of a hard plastic material.Base 600 may also be constructed of a plastic material and may beintegral with shaft 528.

Bending of flexible segment 530 is provided via diametrically disposedslots 662, which define spaced ribs 664. Flexible segment 530 also has alongitudinally extending wall 665 through which cabling may extend,particularly for the operation of the tool. One of the pairs of cablesof bundle 538 controlling flexible segment 530 terminates where base 600intercouples with shaft 528. This pair of cables works in concert tocause bending as indicated by arrow J3, i.e. in a direction orthogonalto the pivoting provided at wrist axis 532. The flexible segment 530 mayalso be provided with additional degrees of freedom by controllingbending in two axes, direction J3 that is illustrated and a directionorthogonal thereto.

FIGS. 8, 9 and 10 show different embodiments that can be used witheither instrument but that are illustrated, in particular, for the rigidinstrument system. FIG. 8 illustrates the construction of one form of atool. FIG. 8 is a perspective view. The tool 18 is comprised of fourmembers including a base 600, link 601, upper grip or jaw 602 and lowergrip or jaw 603. The base 600 is affixed to the flexible stem section302 (see FIG. 5). The flexible stem may be constructed of a ribbedplastic. This flexible section is used so that the instrument willreadily bend through the curved part of the guide tube 24.

The link 601 is rotatably connected to the base 600 about axis 604. FIG.8 illustrates a pivot pin 620 at axis 604. The upper and lower jaws 602and 603 are rotatably connected by pivot pin 624 to the link 601 aboutaxis 605, where axis 605 is essentially perpendicular to axis 604.

Six cables 606-611 actuate the four members 600-603 of the tool. Cable606 travels through the insert stem (section 302) and through a hole inthe base 600, wraps around curved surface 626 on link 601, and thenattaches on link 601 at 630. Tension on cable 606 rotates the link 601,and attached upper and lower grips 602 and 603, about axis 604. Cable607 provides the opposing action to cable 606, and goes through the samerouting pathway, but on the opposite sides of the insert. Cable 607 mayalso attach to link 601 generally at 630.

Cables 608 and 610 also travel through the stem 301, 302 and thoughholes in the base 600. The cables 608 and 610 then pass between twofixed posts 612. These posts constrain the cables to pass substantiallythrough the axis 604, which defines rotation of the link 601. Thisconstruction essentially allows free rotation of the link 601 withminimal length changes in cables 608-611. In other words, the cables608-611, which actuate the jaws 602 and 603, are essentially decoupledfrom the motion of link 601. Cables 608 and 610 pass over roundedsections and terminate on jaws 602 and 603, respectively. Tension oncables 608 and 610 rotate jaws 602 and 603 counter-clockwise about axis605. Finally, as shown in FIG. 8, the cables 609 and 611 pass throughthe same routing pathway as cables 608 and 610, but on the opposite sideof the instrument. These cables 609 and 611 provide the clockwise motionto jaws 602 and 603, respectively. At the jaws 602 and 603, as depictedin FIG. 8, the ends of cables 608-611 may be secured at 635, for exampleby the use of an adhesive such as epoxy glue, or the cables could becrimped to the jaws.

Reference is now made to FIG. 9. FIG. 9 is a side elevation view of aneedle driver version of end effector. This embodiment employs anover-center camming arrangement so that the jaw is not only closed, butis done so at a forced closure.

In FIG. 9, similar reference characters are employed with respect to theembodiment of FIG.8. Thus, there is provided a base 600, a link 601, anupper jaw 650 and a lower jaw 652. The base 600 is affixed to theflexible stem section 302. Cabling 608-611 operate the end jaws.Linkages 654 and 656 provide the over-center camming operation. The twoembodiments of FIGS. 8 and 9 employ a fixed wrist pivot. An alternateconstruction is illustrated in FIG. 10 in which there is provided, inplace of a wrist pivot, a flexible or bending section. This type ofbendable section may be used with either flexible or rigid instrumentsystems.

FIG. 10 is a perspective view of an embodiment of a flexible or bendablewrist just proximal to the tool. FIG. 10 illustrates the manner in whichthe previously disclosed tools may be used with a flexible or bendablesegment of the instrument shaft, whether used with a rigid shaft body ora flexible shaft body or combinations thereof. One of the advantages isthat only a single cable needs to be coupled to the tool for actuationthereof. The pitch and yaw of the tool is controlled at the flexiblesection 100 shown in FIG. 10. This arrangement also lends itself tomaking the tool disposable or at the very least detachable from theinstrument body such as for substitution of another tool. Because theconstruction becomes more simplified at the tip of the instrument, itmakes it possible to construct a tool that is readily detachable fromthe instrument.

In FIG. 10 there is disclosed one embodiment of a tool, illustrated inconjunction with a flexible shaft or tube having a remotely controllablebending or flexing section 100. The medical instrument may comprise anelongated shaft, such as shaft section 110, having proximal and distalends; and a tool, such as graspers 102 and 104, supported from thedistal end of the elongated shaft and useable in performing a medicalprocedure on a subject. The tool is actuated preferably by a singletendon or cable that extends through the flexible section 100. In orderto provide the pitch and yaw action at the tool, the bending or flexingsection 100 is constructed so as to have orthogonal bending by usingfour cables separated at 90.degree. intervals and by using a centersupport with ribs and slots about the entire periphery. Refer to theribs 112 that define corresponding slots 114. The ribs define at each oftheir centers a center support passage 118 that has extendingtherethrough the cable 136. The bending section 100 is at the end oftube section 110. The section 110 may be flexible itself, may be smoothas shown, or may be fluted.

The bending section 100 has alternating ridges 120 to provide universalbending. This version enables bending in orthogonal directions by meansof four cables 106, 107, 116 and 117. The operation of cables 106 and107 provides flexing in one degree-of-freedom while an added orthogonaldegree-of-freedom is provided by operation of cables 116 and 117. Eachof the cables 106, 107, 116, and 117 have at their terminating endsrespective balls 106A, 107A, 116A, and 117A that may be held incorresponding recesses in a distal end wall 119 of the flexible section100.

The bending section 100, as indicated previously, includes a series ofspaced ribs 112 disposed, in parallel, with the plane of each ribextending orthogonal to the longitudinal axis of the section 100. At theproximal end of the bendable section an end rib connects to the shaftsection 110, while at the distal end there is provided the distal endwall 119 that supports the ends of the cables. Each of the ribs 112 areheld in spaced relationship by means of the alternating ridges 120. Asdepicted in FIG. 10 these ribs are identified as horizontal ribs 120A,alternating with vertical ribs 120B. This structure has been found toprovide excellent support at the center passage for the actuating cable136, while also providing enhanced flexibility in orthogonal directionsof bending or flexing.

The grippers 102 and 104 are supported for opening and closing by meansof a pivot pin 135 that extends along a pivot axis. These grippers maybe supported in link 140. Refer to the exploded perspective view of FIG.10 showing the pin 135, and grippers 102 and 104. The pin 135 may besupported at its ends in opposite sides of link 140.

Reference is now made to FIGS. 11-14 for an illustration of differentend effector devices that can be used with the instrument systemsdescribed herein. FIG. 11 shows a clip applier 410. FIG. 12 shows acutting jaw 420. FIG. 13 shows a device 430 for applying a solution oragent to an operative site. FIG. 14 shows a syringe type device 440useable as an end effector.

The surgical robotic system, as illustrated in FIGS. 15-17, althoughpreferably used to perform minimally invasive surgery, may also be usedto perform other procedures as well, such as open or endoscopic surgicalprocedure. FIG. 15 is a perspective view at the slave station of thesystem of FIG. 1 illustrating the interchangeable instrument concepts asapplied in a dual instrument system. FIG. 16 is a cross-sectional viewthrough the storage chamber and as taken along line 16-16 of FIG. 15.FIG. 17 is a longitudinal cross-sectional view, as taken along line17-17 of FIG. 15, and showing both a stored articulating instrument anda stored fluid dispensing.

Reference is now made to FIG. 15 which is a perspective viewillustrating the instrument 14 and the adaptor 15 at the slave stationS. This instrument system is secured in the manner illustrated in FIG. 1to the rigid post 502 that supports the surgical instrument by way of amounting bracket. FIG. 15 also shows several cables that may beseparated into five sets for controlling different motions and actionsat the slave station. These are individual cables of the aforementionedbundles 21 and 22 referred to in FIG. 4. FIG. 15 also illustrates thesupport yoke 220 that is secured to the mounting bracket 31, the pivotpiece 222, and support rails 224 for the carriage 226. The rails aresupported in end pieces 241 and 262 with the end piece 241 attached tothe pivot piece 222. The pivot piece 222 pivots relative to the supportyoke 220 about pivot pin 225. A base piece 234 is supported under thecarriage 226 by means of the support post 228. The support post 228 inessence supports the entire instrument assembly, including the adaptor15 and the instrument 14.

As indicated previously, the support yoke 220 is supported in a fixedposition from the mounting bracket 31. The support yoke 220 may beconsidered as having an upper leg 236 and a lower leg 238. In theopening 239 between these legs 236 and 238 is arranged the pivot piece222. Cabling extends into the support yoke 220. This is illustrated inFIG. 15 by the cable set 501. Associated with the pivot piece 222 andthe carriage 226 are pulleys (not shown) that receive the cabling forcontrol of two degrees-of-freedom. This control from the cable set 501includes pivoting of the entire instrument assembly about the pivot pin225. This action pivots the guide tube 24 essentially in a single plane.This pivoting is preferably about an incision of the patient which isplaced directly under, and in line with, the pivot pin 225. Other cablesof set 501 control the carriage 226 in a linear path in the direction ofthe arrow 227. See also the cables 229 extending between the carriage226 and the end pieces 241 and 262. The carriage moves the instrumentand guide tube 24 back and forth in the direction of the operative siteOS. Incidentally, in FIG. 15 the instrument is in its fully advancedstate with the tool at the operative site OS.

The base piece 234 is the main support for the interchangeableinstrument apparatus of the invention. The base piece 234 supports theguide tube 24, the instrument storage chamber 540, and the instrumentdriver 550. The instrument driver 550 is supported from anothercarriage, depicted in FIGS. 15 and 17 as the carriage 552, and that, inturn, is supported for translation on the carriage rails 554. The rails554 are supported at opposite ends at end pieces 556 and 558, in amanner similar to the support for the other carriage 226. A support post560 interconnects the carriage 552 with the instrument driver housing570.

With further reference to FIG. 15, and as mentioned previously, thereare a number of cable sets from bundles 21 and 22 coupled to and forcontrolling certain actions of the instrument system. Mention has beenmade of the cable set 501 for controlling instrument pivoting andtranslation, as previously explained. In addition, FIG. 15 depicts fourother cable sets 503, 505, 507, and 509. Cable set 503 controls rotationof the guide tube 24. Cable set 505 controls the carriage 552, and, inturn, the extending and retracting of the instrument driver forinstrument exchange. Cable set 507 controls rotation of the instrumentthrough rotation of the instrument driver. Finally, cable set 509controls the tool via the instrument driver and instrument. There isalso one other set of control cables not specifically illustrated inFIG. 15 that controls the indexing motor 565, to be discussed in furtherdetail later.

FIG. 17 shows a cross-sectional view through the interchangeableinstrument portion of the overall instrument system. This clearlyillustrates the internal cable and pulley arrangement for the variousmotion controls. There is a pulley 301 driven from the cable set 503that controls rotation of the guide tube 24. There is also a pulley 303driven from cable set 505, along with a companion pulley 305 thatprovides control for the carriage 552. FIG. 17 also illustrates anotherpulley 307 driven from cable set 507, and for controlling the rotationof the instrument driver 550, and, in turn, the selected instrument.

FIG. 17 illustrates the guide tube 24 supported from the base piece 234.The guide tube 24 is hollow, has a curved distal end as illustrated inFIG. 15, and is adapted to receive the individual instruments or worksections 541 (articulating) or 590 (fluid-filled) disposed in theinstrument storage chamber 540, as well as the instrument driver 550.Refer to FIG. 17 for an illustration of the instrument and instrumentdriver positioned in the guide tube 24. FIG. 17 shows the instrumentdriver 550 in its rest or disengaged position. The proximal end 24A ofthe guide tube 24 is supported in the base piece 234 by means of a pairof bearings 235 so that the guide tube 24 is free to rotate in the basepiece 234. This rotation is controlled from the pulley 237 which issecured to the outer surface of the guide tube 24 by means of a setscrew 231. The pulley 237 is controlled to rotate by means of thecabling 310 that intercouples the pulleys 301 and 237 and that is anextension of the cabling 503. Thus, by means of the cable and pulleyarrangement, and by means of the rotational support of the guide tube24, the rotational position of the guide tube 24 is controlled fromcable set 503. Of course, this controlled rotation is effected from themaster station via the controller 9, as depicted in the system view ofFIG. 1, and as a function of the movements made by the surgeon at theuser interface 15.

As indicated before the proximal end 24A of the guide tube 24 issupported from the base piece 234. The distal end of the guide tube 24,which is adapted to extend through the patient incision, is disposed atthe operative site OS illustrated about the instrument member 20 in FIG.15, and where a medical or surgical procedure is to be performed. In thesystem shown in FIG. 15 the distal end of the guide tube 24 is curved at24B. In this way by rotating the guide tube 24 about its longitudinalaxis there is provided a further degree-of-freedom so as to place thedistal end of the instrument at any position in three-dimensional space.The rotation of the guide tube 24 enables an orbiting of the instrumentend about the axis of the guide tube 24. The guide tube 24 is preferablyrigid and constructed of a metal such as aluminum.

FIG. 17 also illustrates a cross-section of the instrument storagechamber 540 including the storage magazine 549, and showing two of thesix instrument passages 542 in the storage magazine 549. The instrumentstorage chamber may also be referred to herein as an instrumentretainer. In FIG. 17 one of the fluid retaining instruments 590 is aboutto be engaged by the instrument driver 550. The other articulating typeinstrument 541 is in place (storage or rest position) in the instrumentstorage chamber 540, and out of the path of the instrument driver 550.The instrument 541 carries a gripper tool, but other instruments mayalso be carried such as a scissors. Because these instruments areadapted to pass to the guide tube 24 and be positioned at the distal end24B thereof, the body 548 of each instrument is flexible so as to beable to curve with the curvature of the guide tube 24.

Although reference is made herein to the separate instrument andinstrument driver, such as illustrated in FIG. 17, once they are engagedthey function as a single piece instrument member. Accordingly referenceis also made herein to the instrument driver 550 as a “driver section”of the overall one piece instrument member, and the instrument 541 or590 as a “working section” of the instrument member. The instrumentmember has also been previously discussed as having a “coupling section”or “interface section”, which is defined between the working section andthe driver section where the cables interlock by means of an engaginghook arrangement. This is shown in FIG. 17 at 559.

The carriage 552 illustrated in FIG. 17 is moved linearly by the cables555 that extend between pulleys 303 and 305. These cables attach to thecarriage 552. The carriage movement is controlled from cable set 505. Itis the movement of the carriage 552 that drives the instrument driver(driver section) 550. The instrument driver 550, in its rest ordisengaged position, is supported between the instrument driver housing570 and the wall 562 that is used for support of the instrument storagechamber 540. The instrument magazine 549 is rotationally supported bymeans of the axle or shaft 547, with the use of bushings or bearings,not shown. This support is between walls 562 and 563.

FIG. 17 shows the very distal end 525 of the instrument driver(transporter) 550 supported at wall 562. In the rest position of theinstrument driver 550 the driver is out of engagement with theinstruments and the magazine 549, thus permitting rotation of theinstrument storage chamber 540. The proximal end 526 of the instrumentdriver 550 is supported at the instrument driver housing 570. It may berotationally supported by means of a bushing 527. The instrument driver550 is supported for rotation, but rotation is only enabled once thedriver has engaged the instrument and preferably is at the operativesite. The rotation of the instrument driver 550 is controlled from cableset 507 by way of the pulley 307.

In FIG. 15 the cable set 509 is illustrated as controlling theinstrument motions including tool actuation. These cables control aseries of pulleys shown in FIG. 17 as pulleys 529. As indicted in FIG.17 these pulleys control cabling that extends through the instrumentdriver and the instrument for control of instrument and tool motionswhen articulating type tools are selected. The cables that arecontrolled from these pulleys may control three degrees-of-freedom ofthe instrument, including pivoting at the wrist and two for gripperaction. The same engagement arrangement can be used in this secondembodiment of the invention including the mating hook arrangement,interlocked at interface 559 when the instrument driver and instrumentare engaged.

In one version of the invention a rotating member may be used forcontrol of actuating rods. In the illustrated embodiment of theinvention a different arrangement is used that includes a lead screwtype of mechanism. This mechanism 591 is illustrated in FIG. 17 next tothe pulleys 529. This mechanism includes a drive nut 593 having aninternal threaded passage for receiving the actuating rod 592. Theactuating rod 592 also has a threaded outer surface and further includesan elongated slot or keyway 594. An anti-rotation key 595 is fixed inposition and is adapted to be received in the keyway 594. Thisengagement between the key 595 and the actuating rod 592, preventsrotation of the actuating rod 592. However, the threaded engagementbetween the drive nut 593 and the outer threads of the actuating rod 592enable linear (screw advance) translation of the actuating rod 592. Thislinear translation of the actuating rod initiates dispensing from thefluid-filled instrument by actuating the instrument member piston.

The drive nut 593 is journaled to the housing 570, but is free to rotaterelative to the housing. A bearing 596 is provided to enable rotation ofthe drive nut 593 relative to the housing 570. The cable set 511 couplesabout the drive nut 593 to cause rotation thereof. Because the key 595is fixed in position, then the actuating rod 592 can only move linearlyin the direction of the arrow 597. The linear translation of theactuating rod 592 is transferred, via the driver 550, to the actuatingrod of the instrument member. This action is, in turn, transferred tothe dispensing piston of the syringe member 590. For further detailsrefer to the pending applications referred to before and incorporated byreference herein.

FIG. 17 shows one fluid-filled instrument 590. The cable control via thecable set 511 can provide precise movement of the actuating rod 592 sothat all or any portion of the liquid in the dispensing member can beejected at the appropriate body site. If less than all the liquid isejected then the instrument can be returned to the storage magazine inreadiness for a subsequent use. By keeping track of the degrees ofrotation of the drive nut 593, one can ascertain how much of the liquidhas been dispensed and how much remains in the syringe member.

FIG. 18 is schematic diagram of the catheter system of the presentinvention as deployed through the urethra for a surgical procedure inthe bladder. FIG. 18 provides a schematic cross-sectional diagramillustrating a surgical procedure where catheter K1 enters a naturalbody orifice, such as the urethra for carrying out procedures in, forexample, the bladder. In FIG. 18 catheter K1 is shown extending intobladder B1. In this example, the computer controlled segment, identifiedas operative, bendable or flexible segment O in FIG. 18, is positionedat a more proximal section of catheter K1. Bladder B1, being an opencavity, does not have lumens leading from the urethra that wouldnaturally guide a catheter towards any particular operative site. Uponentering bladder B1, catheter K1 can bend in any direction including thedirection of the operative site. In this embodiment, because of the moreproximal positioning of operative segment O, a surgeon can controllablybend the distal end of catheter K towards the operative site. In theembodiment shown in FIG. 18, the distal end of the catheter, labeled P1,can be rigid or be “passively” flexible, i.e. made of a flexiblematerial and not necessarily controlled for flexure under remotecomputer control. FIG. 18 also shows another instrument systempreferably a rigid instrument system including an instrument C extendingthrough an incision D. The instrument shaft carries an end effector C1that may be a set of jaws. Similarly, the bendable instrument K1 maycarry an end effector C2. These instruments are coordinated in theiraction so that they can operate together in performing a surgicalprocedure. Refer also to the previous discussion regarding FIG. 3K.

Refer now to FIG. 19 for added details of the bladder procedurereferenced in FIGS. 3K and 18. This drawing also shows the cross-sectionthrough the wall WI of the bladder B1, illustrating the ureter tube T1that extends through the muscle wall to the kidney. This also shows aninside instrument system I1 with a corresponding end effector, as wellas an outside instrument system 12 that likewise carries an endeffector. These end effectors may be for sewing or for other purposesdepending upon the particular procedure that is to be performed. Theinside instrument system is usually flexible, while the outsideinstrument system may be either flexible or rigid.

Reference to a rigid instrument system usually refers to an instrumentin which there is a shaft that is primarily rigid and usually meant forinsertion into the patient through a small incision such as alaparoscopic incision. However, rigid instruments may also be used tosome extent within a natural body orifice. Flexible shaft instrumentsmay be used through a natural body orifice, by percutaneous entry,through an incision or by other means for entry into the patient.

FIG. 20 shows still another instrument system that may be used forsuturing, sewing or other surgical procedures in a body cavity or vesselsuch as in the cavity 193 illustrated. The instrument system 194 uses asingle instrument arrangement that actually has two or more work areas.By way of example in FIG. 20 there is, at the very distal end of theinstrument system 194, an active work element 195. This may be the sameas the instrument end effector 160 illustrated in FIG. 3K or may be aset of jaws. In addition to the active work element 195 the instrumentsystem is also provided with an intermediate work element 197. This isanother end effector that is adapted to cooperate with the end effector195 in performing a surgical procedure. For sewing the end effector 197may be a hook end effector previously described, or it may be an anvilconstruction. The end effectors shown in FIG. 20 may also be of othertypes such as, but not limited to, graspers, needle drivers, cauterizingtools, scalpels, etc. The instrument system shown in FIG. 20 is simplein construction using only a single controlled instrument member.Preferably the shaft of the instrument system is curved back upon itselfas illustrated at 198 in FIG. 20. This construction enables the oneinstrument system to be used for performing a complete surgicalprocedure such as passing a suture through a fold of tissue asillustrated in FIG. 20.

Another concept relates to arthroscopic procedures, but could also applyto other medical procedures. This relates to the use of a singleflexible instrument that might be used in, for example, a knee operationthrough a single entry point, rather than present instrumentation thatuses multiple instruments and associated multiple incisions. Theprocedures described herein are also advantageous in that they can becarried out without requiring open incisions, thus lessening recoverytimes.

The following are some of the additional features that characterizethese inventions and relating to the use of multiple instruments,particularly multiple instruments of different types and adapted fordifferent locations of access to anatomic parts of the body.

(A) The use of instruments intralumenally minimizes the number ofincisions that have to be made in a particular procedure.

(B) The intralumenal instrument can be used as a “locator” to assist inlocating the extralumenal instrument. For example, one can locate thecoronary vessel (often hidden by fat and muscle, and not on the heartsurface) for anastomosis by means of the intralumenal instrument.

(C) Provides for multiple instruments in a small space. For example, inbowel anastomosis/resection two instruments may be used intralumenallyand one used extralumenally.

(D) Provides for internal and external control of a surgical procedure.For example, in the repair of a failed AAA stent (see FIG. 3G), theintralumenal instrument stabilizes the stent, bringing the loose stentagainst the vessel wall, while the extralumenal instrument performs ananchoring through the vessel wall.

(E) In all of the above the instruments are preferably computercontrollable from a master station with an input device and incoordination with each other. For that purpose the instruments areprovided with sensors so each knows the position of the other, and theiraccurate manipulation can thus be controlled.

(F) The control of operations described herein such as sewing orsuturing techniques employs algorithms when operation is substantiallytotally computer controlled. These algorithms can control suchparameters as stitch patterns, stitch tension, stitch spacing, tightnessand precision of the stitching.

While this invention has been particularly shown and described withreferences to preferred embodiments thereof, it will be understood bythose skilled in the art that various changes in form and details may bemade therein without departing from the scope of the inventionencompassed by the appended claims.

1. A robotic medical system, comprising: an intraluminal medicalinstrument having a first tool adapted to be disposed at a first regionwithin an anatomical vessel; an extraluminal medical instrument having asecond tool adapted to be disposed at a second region outside of theanatomical vessel opposite the first region; at least oneelectromechanical driver coupled to the intraluminal medical instrumentand extraluminal medical instrument; and a remote controller configuredfor respectively directing the at least one electromechanical driver toindependently control movements of the intraluminal and extraluminalmedical instruments, and to respectively control the first and secondtools, in unison, to perform at least one of a suturing procedure and asewing procedure on the anatomical vessel.
 2. The robotic medical systemof claim 1, wherein the remote controller has a user interface forreceiving commands from a user.
 3. The robotic medical system of claim2, wherein movements made at the user interface correspond to movementsof the intraluminal and extraluminal instruments.
 4. The robotic medicalsystem of claim 1, wherein the remote controller is coupled to the atleast one electromechanical driver via external cabling.
 5. The roboticmedical system of claim 1, wherein the each of the at least oneelectromechanical driver has a motor array.
 6. The robotic medicalsystem of claim 1, wherein the intraluminal medical instrument isflexible, and the extraluminal medical instrument is rigid.
 7. Therobotic medical system of claim 1, wherein both the intraluminal medicalinstrument and extraluminal medical instrument are flexible.
 8. Therobotic medical system of claim 1, wherein the intraluminal medicalinstrument is flexible and is configured for being introduced at thefirst region through a natural body orifice or percutaneously, while theextraluminal medical instrument is rigid and is configured for beingintroduced at the second region through a surgical opening orlaparoscopically.
 9. The robotic medical system of claim 1, wherein thefirst and second tools are suturing tools, and the at least one of thesuturing procedure and the sewing procedure is a suturing procedure. 10.The robotic medical system of claim 9, wherein one of the first suturingtool and the second suturing tool has a needle, and another of the firstsuturing tool and the second suturing tool has a tissue grasper.
 11. Therobotic medical system of claim 10, wherein the tissue grasper isconfigured for grasping a fold of a wall of the anatomical vessel, andthe needle is configured for passing a suture through the wall fold. 12.The robotic medical system of claim 1, wherein the first and secondtools are sewing tools, and the at least one of the suturing procedureand the sewing procedure is a sewing procedure.
 13. The robotic medicalsystem of claim 12, wherein one of the first sewing tool and the secondsewing tool has a needle, and another of the first sewing tool and thesecond sewing tool has a hook end effector that cooperates with theneedle to perform the sewing procedure.
 14. The robotic medical systemof claim 13, wherein the one of the first sewing tool and the secondsewing tool has a presser foot, and the needle is configured forreciprocating relative to the presser foot.
 15. The robotic medicalsystem of claim 13, wherein the needle is configured for pulling a loopof suture material through a wall of the anatomical vessel, and the hookend effector is configured for grabbing the loop of material before theneedle pulls the loop of suture material through the anatomical vesselwall.
 16. A method of performing a medical procedure on a patient,comprising: conveying control signals from a remote controller to adrive unit; and operating the drive unit in accordance with the controlsignals to advance a first medical instrument within an anatomicalvessel of the patient, to advance a second medical instrument outside ofthe anatomical vessel, and to respectively actuate first and secondtools located on the first and second medical instruments, in unison, toperform at least one of a suturing procedure and a sewing procedure onthe anatomical vessel.
 17. The method of claim 16, wherein the controlsignals are conveyed from the remote controller to the drive unit inresponse to user commands.
 18. The method of claim 16, wherein the usercommands are movements made at a user interface that correspond tomovements of the first and second medical instruments.
 19. The method ofclaim 16, wherein the first medical instrument is introduced within thepatient through a natural body orifice or percutaneously, and the secondmedical instrument is introduced within the patient through a surgicalopening or laparoscopically.
 20. The method of claim 16, wherein theanatomical vessel is a blood vessel.
 21. The method of claim 16, whereinthe first and second tools are suturing tools, and the at least one ofthe suturing procedure and the sewing procedure is a suturing procedure.22. The method of claim 21, wherein one of the first suturing tool andthe second suturing tool has a needle, another of the first suturingtool and the second suturing tool has a tissue grasper, and the suturingprocedure is performed by grasping a fold of the anatomical vessel usingthe grasper, and passing a suture through the fold using the needle. 23.The method of claim 16, wherein the first and second tools are sewingtools, and the at least one of the suturing procedure and the sewingprocedure is a sewing procedure.
 24. The method of claim 23, wherein oneof the first sewing tool and the second sewing tool has a needle,another of the first sewing tool and the second sewing tool has a hookend effector, and the sewing procedure is performed by pulling a loop ofsuture material through a wall of the anatomical vessel using theneedle, and grabbing the loop of suture material with the hook endeffector before the needle pulls the loop of suture material through theanatomical vessel wall.
 25. The method of claim 24, wherein the one ofthe first sewing tool and the second sewing tool has a presser foot, andthe sewing procedure is further performed by reciprocating the needlerelative to the presser foot.
 26. The method of claim 16, wherein the atleast one of a suturing procedure and a sewing procedure comprisessecuring the ends of two segments of the anatomical vessel together. 27.The method of claim 16, wherein the at least one of a suturing procedureand a sewing procedure comprises securing a stent to the anatomicalvessel.
 28. The method of claim 16, wherein the at least one of asuturing procedure and a sewing procedure comprises transverselysecuring another anatomical vessel to a side wall of the anatomicalvessel.
 29. The method of claim 16, wherein the at least one of asuturing procedure and a sewing procedure comprises constricting asphincter located in the anatomical vessel.
 30. The method of claim 29,wherein the anatomical vessel is a ureter, and the sphincter is locatedat the base of the ureter.
 31. The method of claim 29, wherein theanatomical vessel is an esophagus, and the sphincter is located at agastro-esophageol juncture.